Illanes, León, and Sheila A. McIlraith. “Generalized Planning via Abstraction: Arbitrary Numbers of Objects”. Proceedings of the AAAI Conference on Artificial Intelligence 33, no. 01 (July 17, 2019): 7610-7618. Accessed July 15, 2024. https://ojs.aaai.org/index.php/AAAI/article/view/4754.